Scholarlink

This paper investigates a nonsingular fast terminal sliding mode (NFTSM)-based platoon control method, in which nonlinear and underactuated vehicles are taken into account. Firstly, a nonlinear kinematic model of vehicles with an underactuated dynamic model is considered. While travelling on a curved road, extend forward-looking technology is used to avoid cutting-corner behavior. Taking uncertainty and nonlinearity into consideration, an adaptive control law that NFTSM method is proposed so that the vehicle platoon will be stable from arbitrary positions. In this method, the sliding mode switching function is defined to guarantee spacing errors converge to zero in finite time. Asymptotic convergence to the desired path is shown through Lyapunov stability theorem. Additionally, the mesh stability is defined to guarantee that the string stability both longitudinal and lateral. Finally, numerical simulations are provided to show the and effectiveness of the proposed method.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

The NFTSM Based Platoon Tracking Control for a Group of Nonlinear and Underactuated Vehicles on Curved Roads

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Yuncong Ma,
  • Lei Zuo,
  • Maode Yan,
  • Jinqi Zhang

摘要

This paper investigates a nonsingular fast terminal sliding mode (NFTSM)-based platoon control method, in which nonlinear and underactuated vehicles are taken into account. Firstly, a nonlinear kinematic model of vehicles with an underactuated dynamic model is considered. While travelling on a curved road, extend forward-looking technology is used to avoid cutting-corner behavior. Taking uncertainty and nonlinearity into consideration, an adaptive control law that NFTSM method is proposed so that the vehicle platoon will be stable from arbitrary positions. In this method, the sliding mode switching function is defined to guarantee spacing errors converge to zero in finite time. Asymptotic convergence to the desired path is shown through Lyapunov stability theorem. Additionally, the mesh stability is defined to guarantee that the string stability both longitudinal and lateral. Finally, numerical simulations are provided to show the and effectiveness of the proposed method.